Abhishek Agarwal

Abhishek Agarwal, Shanshan Xu, Matthias Grabmair

Summarizing legal decisions requires the expertise of law practitioners, which is both time- and cost-intensive. This paper presents techniques for extractive summarization of legal decisions in a low-resource setting using limited expert annotated data. We test a set of models that locate relevant content using a sequential model and tackle redundancy by leveraging maximal marginal relevance to compose summaries. We also demonstrate an implicit approach to help train our proposed models generate more informative summaries. Our multi-task learning model variant leverages rhetorical role identification as an auxiliary task to further improve the summarizer. We perform extensive experiments on datasets containing legal decisions from the US Board of Veterans' Appeals and conduct quantitative and expert-ranked evaluations of our models. Our results show that the proposed approaches can achieve ROUGE scores vis-à-vis expert extracted summaries that match those achieved by inter-annotator comparison.

Nishad Gothoskar, Miguel Lázaro-Gredilla, Yasemin Bekiroglu et al.

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural architectures that require large amounts of data to train. In this work, we present a method for unsupervised learning of visual servoing that does not require any prior calibration and is extremely data-efficient. Our key insight is that visual servoing does not depend on identifying the veridical kinematic and camera parameters, but instead only on an accurate generative model of image feature observations from the joint positions of the robot. We demonstrate that with our model architecture and learning algorithm, we can consistently learn accurate models from less than 50 training samples (which amounts to less than 1 min of unsupervised data collection), and that such data-efficient learning is not possible with standard neural architectures. Further, we show that by using the generative model in the loop and learning online, we can enable a robotic system to recover from calibration errors and to detect and quickly adapt to possibly unexpected changes in the robot-camera system (e.g. bumped camera, new objects).